# US 8,786,145 B2 · Ball joint universal rotary motor, a manufacturing method and a working mechanism thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 8,786,145 B2 - Document ID: US8786145B2 - Status: Granted - Kind: B2 - Application number: 14/088,056 - Filed: 2013-11-22 - Published: 2014-05-08 - Granted: 2014-07-22 - Earliest claimed: 2013-10-08 - Applicants: Kuokwa Ho - Inventors: Kuokwa Ho - Web page: https://patentgrep.com/patent/US8786145B2 ## CPC - H02K 21/12: with stationary armatures and rotating magnets - H02K 21/26: with rotating armatures and stationary magnets - H02K 41/031: {of the permanent magnet type} - H02K 1/17: Stator cores with permanent magnets - H02K 1/28: Means for mounting or fastening rotating magnetic parts on to, or to, the rotor structures - H02K 3/28: Layout of windings or of connections between windings (windings for pole-changing H02K17/06, H02K17/14, H02K19/12, H02K19/32) - H02K 7/088: {radially supporting the rotor directly} - H02K 2201/18: Machines moving with multiple degrees of freedom - Y10T 29/49009: Dynamoelectric machine - H02K: DYNAMO-ELECTRIC MACHINES (dynamo-electric relays H01H53/00; conversion of DC or AC input power into surge output power {H03K3/53}) - Y10T: TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION ## Abstract Described herein is a ball joints universal rotary motor, a manufacturing method and a working mechanism thereof. The ball joints universal rotary motor comprises a housing, a spherical-cap shaped stator body, and a rotor body configured to be secured within the stator body. The stator body is made from a permanent magnet. The rotor body comprises multiple layers of armatures and multiple spacer layers. The multiple layers of armatures are symmetrically distributed along the axis of the rotor body. A spacer layer is provided between two adjacent layers of armatures. The multiple layers of armatures and multiple spacer layers are securely connected by a bolt. The bolt and the rotor body are axially connected. The rotor body is of a spherical shape. Each layer of the armatures is wound with two layers of coils: a first layer and a second layer. The motor as provided is configured to realize movement in multiple directions. The present disclosure provides an embodiment of a motor with a pump assembly, and another embodiment of a motor without a pump assembly. Examples of applications of the present disclosure include joints and areas of an intelligent bionic robot, various industrial devices, and household appliances. ## Claims ### Claim 1 A ball joint universal rotary motor comprising: a spherical-cap shaped stator body, a rotor body configured to be secured within the stator body, and a rotor shaft; wherein, the stator body is made from a permanent magnet, and is magnetized to form a plurality of magnetic poles; wherein the rotor body comprises multiple layers of armatures; wherein one armature is wound with a first layer of coils; wherein the first layer of coils is configured to be wound on the same armature; wherein one armature is wound with a second layer of coils; wherein the second layer of coils on the one armature is configured to be electrically connected with another second layer of coils on another armature that is symmetrically distributed in equal distance from a center of the rotor body with respect to the one armature. ### Claim 2 (depends on 1) The ball joint universal rotary motor of claim 1, wherein each layer of the multiple layers of armatures comprises a rotor core formed from stacked multiple layers of silicon steel laminations. ### Claim 3 (depends on 1) The ball joint universal rotary motor of claim 1, wherein the multiple layers of armatures are symmetrically distributed with respect to an axis of the rotor body. ### Claim 4 (depends on 1) The ball joint universal rotary motor of claim 1, wherein every two adjacent layers of armatures are provided with a spacer layer in between. ### Claim 5 (depends on 1) The ball joint universal rotary motor of claim 1, wherein the multiple layers of armatures and the spacer layers are configured to be connected by a bolt. ### Claim 6 (depends on 5) The ball joint universal rotary motor of claim 5, wherein the bolt and the rotor shaft is configured to be connected. ### Claim 7 (depends on 1) The ball joint universal rotary motor of claim 1, wherein the rotor body is substantially of a spherical shape. ### Claim 8 (depends on 5) The ball joint universal rotary motor of claim 5, wherein each of two ends of the bolt is respectively provided with a nut; within each nut is of a frustum shape; wherein a cross-sectional area of an end of a nut closer to a center of the rotor body is smaller than a cross-sectional area of another end of the nut further away from the center of the rotor body. ### Claim 9 (depends on 1) The ball joint universal rotary motor of claim 1, further comprising a housing provided outside the stator body; wherein the housing comprises a magnet yoke and a shielding layer outside the magnet yoke; wherein an outer wall of the stator body is configured to be bonded with an inner wall of the magnet yoke. ### Claim 10 (depends on 9) The ball joint universal rotary motor of claim 9, wherein the ball joints universal rotary motor further comprises an air inlet that is provided on the housing, and does not comprise a pump assembly. ### Claim 11 (depends on 9) The ball joint universal rotary motor of claim 9, wherein the ball joints universal rotary motor further comprises an air inlet that is provided on the housing and a pump assembly. ### Claim 12 (depends on 9) The ball joint universal rotary motor of claim 9, wherein the ball joints universal rotary motor further comprises an annular projection that is provided on the housing at a notch that is close to the stator body; wherein the annular projection extends in a circumferential direction along the stator body on an outer wall of the housing. ### Claim 13 (depends on 1) The ball joint universal rotary motor of claim 1, wherein number of layers of the multiple layers of armatures is two or greater; wherein diameters of the multiple layers of armatures gradually decrease from a center of the rotor body toward its two ends. ### Claim 14 (depends on 1) A robot comprising the ball joint universal rotary motor of claim 1. ### Claim 15 (depends on 14) The robot of claim 14, comprising a joint rotatable along at least two different axes, wherein rotation of the joint is driven by the ball joint universal rotary motor. ### Claim 16 (depends on 1) A method of using the ball joint universal rotary motor of claim 1, comprising: causing the rotor body to rotate with respect to a first axis by energizing the first layer of coils; causing the rotor body to rotate with respect to a second axis by energizing the second layer of coils; wherein the first axis and the second axis are different.